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Analysis of Dynamic Stability of Limit-cycle Navigation Method  

Kim, Dong-Han (Dept. of Electronics Eng, KyunHee Univ)
Kang, Soo-Hyeok (Dept. of Electronics Eng, KyunHee Univ)
Lee, Eun-Jin (Dept. of Electronics Eng, KyunHee Univ)
Ko, Kuk-Won (Dept of I & C Eng, SunMoon Univ)
Nam, Sang-Yep (Dept of Information Technology, KookJe College)
Publication Information
전자공학회논문지 IE / v.46, no.3, 2009 , pp. 33-41 More about this Journal
Abstract
Because the stability of obstacle avoidance ability is important for the safe operation of mobile robots, this paper deals with the analysis of dynamic stability of Limit-cycle navigation method that was proposed by authors. Limit-cycle navigation method is fast and easy to implement for fast moving mobile robots using limit-cycle characteristics of the 2nd-order nonlinear function. It can be applied to robots in dynamically changing environment such as the robot soccer. By adjusting the radius of the motion circle and the direction of the obstacle avoidance, the mobile robot can avoid the collision with obstacles and move to the destination point. The stability of Limit-cycle navigation method is analyzed with a linear model. To demonstrate the effectiveness and applicability, it is applied to the robot soccer Simulations and real experiments ascertain the merits of the proposed method.
Keywords
limit-cycle; navigation; dynamic stability;
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Times Cited By KSCI : 1  (Citation Analysis)
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